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#include "precomp.hpp"

/*======================= TIME AVERAGING FILTER =========================*/
#define TIME_WND 5
class CvBlobTrackPostProcTimeAver: public CvBlobTrackPostProcOne {

protected:
	CvBlob      m_Blob;
	CvBlob      m_pBlobs[TIME_WND];
	float       m_Weights[TIME_WND];
	int         m_Frame;

public:
	CvBlobTrackPostProcTimeAver( int KernelType = 0) {
		int i;
		m_Frame = 0;
		for (i = 0; i < TIME_WND; ++i) {
			m_Weights[i] = 1;
			if (KernelType == 1) {
				m_Weights[i] = (float)exp((-2.3 * i) / (TIME_WND - 1)); /* last weight is 0.1 of first weight */
			}
		}

		SetModuleName("TimeAver");
	};

	~CvBlobTrackPostProcTimeAver() {};

	CvBlob* Process(CvBlob* pBlob) {
		float   WSum = 0;
		int     i;
		int index = m_Frame % TIME_WND;
		int size = MIN((m_Frame + 1), TIME_WND);
		m_pBlobs[index] = pBlob[0];
		m_Blob.x = m_Blob.y = m_Blob.w = m_Blob.h = 0;

		for (i = 0; i < size; ++i) {
			float   W = m_Weights[i];
			int     index  = (m_Frame - i + TIME_WND) % TIME_WND;
			m_Blob.x += W * m_pBlobs[index].x;
			m_Blob.y += W * m_pBlobs[index].y;
			m_Blob.w += W * m_pBlobs[index].w;
			m_Blob.h += W * m_pBlobs[index].h;
			WSum += W;
		}
		assert(WSum > 0);

		m_Blob.x /= WSum;
		m_Blob.y /= WSum;
		m_Blob.w /= WSum;
		m_Blob.h /= WSum;

		m_Frame++;
		return &m_Blob;
	};

	void Release() {
		delete this;
	}
};  /* class CvBlobTrackPostProcTimeAver */

CvBlobTrackPostProcOne* cvCreateModuleBlobTrackPostProcTimeAverRectOne() {
	return (CvBlobTrackPostProcOne*) new CvBlobTrackPostProcTimeAver(0);
}

CvBlobTrackPostProcOne* cvCreateModuleBlobTrackPostProcTimeAverExpOne() {
	return (CvBlobTrackPostProcOne*) new CvBlobTrackPostProcTimeAver(1);
}

CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcTimeAverRect() {
	return cvCreateBlobTrackPostProcList(cvCreateModuleBlobTrackPostProcTimeAverRectOne);
}

CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcTimeAverExp() {
	return cvCreateBlobTrackPostProcList(cvCreateModuleBlobTrackPostProcTimeAverExpOne);
}
/*======================= KALMAN FILTER =========================*/
